Whenever I attain lucidity, I almost immediately start to feel myself wake up. Certain techniques like waving my hands around or concentrating have helped me to stay in the dream for longer. I never go from a lucid state to a non-lucid state - I always just wake up.

I was wondering if anyone else has this problem and how they handle it. Are there techniques one can do while awake that help a lucid dreamer stay asleep upon attaining lucidity? Thanks!

Do u think you could be gaining your lucidity in the first place at a time when your sleep state is lightening and you are soon to wake up? .....

Try to go straight back into the dream as in WILD back in if you wake up. (to do this lay still and think of the last deep LD scene you had, think about what you felt in that scene and think of what was around you). This may take you back to that point. I suggest not to focus on a point in that dream in which you were struggling to stay lucid.